Fault-tolerant RT-Mach (FT-RT-Mach) and an application to real-time train control

Even though real-time systems have the stringent constraint of completing t asks before their deadlines, many existing real-time operating systems do n ot implement fault tolerance capabilities. In this paper we summarize fault tolerant real-time scheduling policy for dynamic tasks with ready times an d deadlines, Our focus in this paper is the implementation, which includes fault-tolerant scheduling, re-scheduling, and recovery mechanisms in the FT -RT-Mach operating system, a fault-tolerant version of RT-Mach. A realtime train control application is then implemented using the FT-RT-Mach operatin g system. Copyright (C) 1999 John Wiley & Sons, Ltd.